基于双目视觉稀疏点云重建的输电线路弧垂测量方法

Measurement of Sag of Power Transmission Line based on Sparse Point Cloud Reconstruction using Binocular Stereo

弧垂是输电线路设计和运行的主要指标,必须严格控制在规定的设计容限内。笔者提出了一种基于双目视觉稀疏点云重建的输电线路弧垂测量方法,通过获取电力走廊影像对,采用数字图像处理技术对输电线路进行定位与提取,使用标定参数采样核线影像对,并利用核线约束解算其稀疏点云,最后通过悬链线拟合技术重建线路三维矢量,由此模型计算出精确的弧垂指标。研究结果表明,当被测对象处于中短距离的情况下,本方法具有较高的弧垂测量精度,且在工程应用中具有较大的灵活性。

As sag of line is a crucial index in design and maintenance of power transmission,it must be controlled rigidly in tolerance.This paper proposed a measurement method of the sag of power transmission line based on sparse point cloud reconstruction.to capture the stereo image pairs of power corridor with binocular stereo visual system.First,a series of digital image processing techniques are applied to locate and extract the curve line in each image.Then epipolar rectify ication is performed using intrinsic and extrinsic parameters.Sparse point cloud is resolved from extracted line combine with epipolar restriction.Finally,catenary model of transmission line is fitted and sag value is derived from such model.The result shows the method has high precision in sag measurement when the range from device to target is below 200 meters and has high flexibility in engineering application.